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<pre><span class="sourceLineNo">001</span>package edu.wpi.first.wpilibj.templates;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span><a name="line.3"></a>
<span class="sourceLineNo">004</span><a name="line.4"></a>
<span class="sourceLineNo">005</span><a name="line.5"></a>
<span class="sourceLineNo">006</span>import edu.wpi.first.wpilibj.Jaguar;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.Solenoid;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.SpeedController;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.Timer;<a name="line.9"></a>
<span class="sourceLineNo">010</span><a name="line.10"></a>
<span class="sourceLineNo">011</span>public class Shooter {<a name="line.11"></a>
<span class="sourceLineNo">012</span>    <a name="line.12"></a>
<span class="sourceLineNo">013</span>    SpeedController flyWheel;<a name="line.13"></a>
<span class="sourceLineNo">014</span>    double targetSpeed;<a name="line.14"></a>
<span class="sourceLineNo">015</span>    Solenoid launcher;<a name="line.15"></a>
<span class="sourceLineNo">016</span>    <a name="line.16"></a>
<span class="sourceLineNo">017</span>    public Shooter(int flyWheelJag, double targetSpeed, int launcherPort)<a name="line.17"></a>
<span class="sourceLineNo">018</span>    {<a name="line.18"></a>
<span class="sourceLineNo">019</span>        flyWheel = new Jaguar(flyWheelJag);<a name="line.19"></a>
<span class="sourceLineNo">020</span>        launcher = new Solenoid(launcherPort);<a name="line.20"></a>
<span class="sourceLineNo">021</span>        this.targetSpeed = targetSpeed;<a name="line.21"></a>
<span class="sourceLineNo">022</span>        flyWheel.set(-targetSpeed);<a name="line.22"></a>
<span class="sourceLineNo">023</span>    }<a name="line.23"></a>
<span class="sourceLineNo">024</span>    <a name="line.24"></a>
<span class="sourceLineNo">025</span>     public double getTargetSpeed() <a name="line.25"></a>
<span class="sourceLineNo">026</span>     {<a name="line.26"></a>
<span class="sourceLineNo">027</span>         return targetSpeed;<a name="line.27"></a>
<span class="sourceLineNo">028</span>     }<a name="line.28"></a>
<span class="sourceLineNo">029</span>     <a name="line.29"></a>
<span class="sourceLineNo">030</span>     public void setTargetSpeed(double targetSpeed) <a name="line.30"></a>
<span class="sourceLineNo">031</span>     {<a name="line.31"></a>
<span class="sourceLineNo">032</span>        this.targetSpeed = targetSpeed;<a name="line.32"></a>
<span class="sourceLineNo">033</span>        flyWheel.set(-targetSpeed);<a name="line.33"></a>
<span class="sourceLineNo">034</span>     }<a name="line.34"></a>
<span class="sourceLineNo">035</span>     <a name="line.35"></a>
<span class="sourceLineNo">036</span>     public void fire()<a name="line.36"></a>
<span class="sourceLineNo">037</span>     {<a name="line.37"></a>
<span class="sourceLineNo">038</span>        launcher.set(true);<a name="line.38"></a>
<span class="sourceLineNo">039</span>     }<a name="line.39"></a>
<span class="sourceLineNo">040</span>     <a name="line.40"></a>
<span class="sourceLineNo">041</span>     public void reset()<a name="line.41"></a>
<span class="sourceLineNo">042</span>     {<a name="line.42"></a>
<span class="sourceLineNo">043</span>         launcher.set(false);<a name="line.43"></a>
<span class="sourceLineNo">044</span>     }<a name="line.44"></a>
<span class="sourceLineNo">045</span>     <a name="line.45"></a>
<span class="sourceLineNo">046</span>}<a name="line.46"></a>




























































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